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A trajectory-level robot skill learning method based on fuzzy systems

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Comparative Analysis of Deep Dielectric Charging Models of Spacecraft Slip Ring Assembly 7

Comparative Analysis of Deep Dielectric Charging Models of S...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Zhu, Liying Yang, Dong Wei, Dejie Wu, Jianwen Beijing Institute of Spacecraft System Engineering Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350359558

Numerical simulation is widely used as an important means for the design, evaluation, and qualitative analysis of deep dielectric charging in spacecraft. In this paper, for the commonly used radiation-induced conductivity (RIC) model and the charge conservation law (CCL) model, a comparative analysis is conducted from the perspective of control equations and physical meanings. The RIC model is a microscopic expression considering free charge and trapped charge, and the CCL model is a further simplification of the RIC model. Based on the RIC model, a typical back-grounded plate example is calculated to explore the internal charging of the medium under different particle energies. Based on the CCL model, utilizing a combination of Monte-Carlo particle transport simulation and finite element calculation, the 3-D distribution of the electric field intensity inside the solar array drive assembly (SADA) slip ring is accurately described. It can be seen from the calculation results that the two results are basically consistent, but the three-dimensional calculation can more accurately describe the internal electric field intensity distribution of the medium. The maximum internal electric field intensity is about - 1.81 × 107 V/m, which is close to the internal breakdown threshold of the dielectric. © 2024 IEEE.

关键词： Monte Carlo methods

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Data-driven Transient Stability Assessment Using Sparse PMU Sampling and Online Self-check Function

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CSEE Journal of Power and Energy systems 2023年第3期9卷 910-920页

作者： Guozheng Wang Jianbo Guo Shicong Ma Xi Zhang Qinglai Guo Shixiong Fan Haotian Xu Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Department of Power System China Electric Power Research InstituteBeijing 100192China School of Automation Beijing Institute of TechnologyBeijing 100192China

Artificial intelligence technologies provide a newapproach for the real-time transient stability assessment (TSA)of large-scale power systems. In this paper, we propose a datadriven transient stability assessment model (DTSA) that combinesdifferent AI algorithms. A pre-AI based on the time-delay neuralnetwork is designed to locate the dominant buses for installingthe phase measurement units (PMUs) and reducing the datadimension. A post-AI is designed based on the bidirectionallong-short-term memory network to generate an accurate TSAwith sparse PUM sampling. An online self-check function of theonline TSA’s validity when the power system changes is furtheradded by comparing the results of the pre-AI and the *** IEEE 39-bus system and the 300-bus AC/DC hybrid systemestablished by referring to China’s existing power system areadopted to verify the proposed method. Results indicate that theproposed method can effectively reduce the computation costswith ensured TSA accuracy as well as provide feedback forits applicability. The DTSA provides new insights for properlyintegrating varied AI algorithms to solve practical problems inmodern power systems.

关键词： Artificial intelligence phasor measurement units recurrent neural networks transient stability assessment

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Stochastic Resource Allocation with Time Windows 8th

Stochastic Resource Allocation with Time Windows

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8th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2023

作者： Li, Yang Xin, Bin Beijing Institute of Electronic System Engineering Beijing100854 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819975891

The stochastic resource allocation problem with time windows (SRAPTW) refers to a class of combinatorial optimization problems which are aimed at finding the optimal scheme of assigning resources to given tasks within their time windows. In SRAPTW, the capability of resources to accomplish tasks is quantitatively characterized by probability. The expected allocation scheme should include not only the task-resource pairings but also their allocation time. This paper formulates SRAPTW as a nonlinear mixed 0–1 programming problem with the objective of maximizing the reward of completing specified tasks. Then, a general encoding/decoding method is proposed for the representation of solutions, and several different problem-solving methodologies are presented and compared. Results of computational experiments show that the utilization of SRAPTW-specific knowledge can bring in excellent performance, and a constructive heuristic combining maximal marginal return strategy and maximal probability strategy has remarkable advantages, especially in larger-scale cases. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stochastic systems

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Theoretical and experimental research on static stiffness,performance,and lift-off characteristics of multi-layer gas foil thrust bearings

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Friction 2024年第11期12卷 2458-2479页

作者： Yang HU Pengjing DING Fangling WU Xiaojing WANG Bo LIANG Yonggang MENG School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200072China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 211106China State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

In this study,a new comprehensive fully coupled elastic–hydrodynamic model is developed for a multi-layer gas foil thrust bearing(GFTB).The interaction effects among the top foil,back board,middle foil,and bottom foil,as well as the Coulomb friction effect,are *** stiffness and static characteristics obtained by the experimental and theoretical approaches are in good agreement,which verifies the accuracy of the *** contribution of each foil layer to the overall stiffness and the load-carrying mechanism are *** effects of the load,preload,and rotational speed on the static performance are investigated ***,start–stop tests are performed to achieve the lift-off speed,start-up torque,and shut-down torque under various operating conditions.

关键词： multi-layer gas foil thrust bearing(GFTB) load carrying mechanism static performance

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Squeezing More Past Knowledge for Online Class-Incremental Continual Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 722-736页

作者： Da Yu Mingyi Zhang Mantian Li Fusheng Zha Junge Zhang Lining Sun Kaiqi Huang the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150080China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049 the CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China IEEE

Continual learning(CL)studies the problem of learning to accumulate knowledge over time from a stream of data.A crucial challenge is that neural networks suffer from performance degradation on previously seen data,known as catastrophic forgetting,due to allowing parameter *** this work,we consider a more practical online class-incremental CL setting,where the model learns new samples in an online manner and may continuously experience new ***,prior knowledge is unavailable during training and *** works usually explore sample usages from a single dimension,which ignores a lot of valuable supervisory *** better tackle the setting,we propose a novel replay-based CL method,which leverages multi-level representations produced by the intermediate process of training samples for replay and strengthens supervision to consolidate previous ***,besides the previous raw samples,we store the corresponding logits and features in the ***,to imitate the prediction of the past model,we construct extra constraints by leveraging multi-level information stored in the *** the same number of samples for replay,our method can use more past knowledge to prevent *** conduct extensive evaluations on several popular CL datasets,and experiments show that our method consistently outperforms state-of-the-art methods with various sizes of episodic *** further provide a detailed analysis of these results and demonstrate that our method is more viable in practical scenarios.

关键词： Catastrophic forgetting class-incremental learning continual learning(CL) experience replay

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Research on the Application of Embodied Intelligence Technology in Space Exploration

Research on the Application of Embodied Intelligence Technol...

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2024 IEEE International Conference on Control Science and systems engineering, ICCSSE 2024

作者： Qunzhi, Li Chao, Ma Jing, Peng Jinqiao, Wang Zhiliang, Wu Guibo, Zhu Yongjian, Liu Boyuan, Dong Jie, Wang Beijing Institute of Spacecraft System Engineering Beijing China Institute of Automation Chinese Academy of Sciences Beijing China Tianjin University Tianjin China

ISBN: (纸本)9798331517199

Embodied intelligence technology belongs to artificial intelligence (AI) technology, which is one of the embodiments. Compared to traditional operation robots, the greatest advancement of intelligent operation robots is their intelligence based on the large models, enabling cognitive understanding of the world and intelligent decision-making. Specifically, from the perspective of application, the essence of embodied intelligence is the agent's ability to autonomously perceive, make decisions, and execute actions from the first perspective. Embodied intelligence emphasizes the close connection between the agent and the environment. The agent perceives and understands the environment autonomously through the first perspective. It makes autonomous decisions, interacts with and adapts to the environment through autonomous execution. This article conducts exploratory research on the practical application of embodied intelligence technology in space missions from two aspects: on-orbit service and planetary exploration. This research can provide reference for the practical space application of artificial intelligence technology. © 2024 IEEE.

关键词： Chatbots

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Flight control of a large-scale flapping-wing flying robotic bird:system development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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RESEARCH ON POSITION DETECTION METHOD OF LARGE-DIAMETER PMSM BASED ON MAGNETIC ENCODER

RESEARCH ON POSITION DETECTION METHOD OF LARGE-DIAMETER PMSM...

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2024 CSAA/IET International Conference on Aircraft Utility systems, AUS 2024

作者： Guo, Yonghui Wu, Zhiyong Qian, Hao Zhang, Jiaju Zhen, Mi School of Automation Science and Electrical Engineering Beihang University Beijing China Institute of Unmanned System Beihang University Beijing China

In the operation of large-diameter PMSM system, position detection is the key and difficult point. The large-diameter permanent magnet synchronous motor studied in this paper has a load in the center and there is no bearing at the bottom of the center, which limits the position detection, so the off-axis position detection scheme is adopted. In view of the above factors, this paper proposes a position detection scheme for large-diameter PMSM based on magnetic encoder, designs a magnetic encoder processing circuit, uses an advanced AMR sensor as a magnetic sensing sensor to collect position information, and uses PLL to demodulate the sine and cosine pairs output by the sensor to obtain position information. © The Institution of engineering & Technology 2024.

关键词： Phase locked loops

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